Title :
Kinematic calibration of high-payload transferring robot based on compensation of flexible deformation error
Author :
Yalei Feng ; Fang Xu ; Xuewei Li ; Fengshan Zou
Author_Institution :
SIASUN Robot & Autom. Co. Ltd., Shenyang, China
Abstract :
To meet the need of accurately transferring of the high-payload robot, a kinematics calibration method based on flexible deformation compensation is proposed. The the flexible deformation error is modeled and identificated, and both the link and joint´s flexibility paramenters are obtained. The impact of the flexible deformation error on the kinematic identification is simulated. A compensation experiment is carried out on the compensation of the flexible deformtaion error.
Keywords :
calibration; error compensation; manipulator kinematics; compensation experiment; flexibility paramenter; flexible deformation compensation; flexible deformation error; high-payload transferring robot; kinematic calibration; kinematic identification; Automation; Calibration; Intelligent control; Joints; Kinematics; Service robots; Error Compensation; Flexible Deformation; High-payload Robot; Kinematic Calibraion;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053105
